A pectoral fin analysis for diving rajiform-type fish robots by fluid dynamics

Masaaki Ikeda; Shigeki Hikasa; Keigo Watanabe; Isaku Nagai

doi:10.1007/s10015-013-0142-9

A pectoral fin analysis for diving rajiform-type fish robots by fluid dynamics

Masaaki Ikeda, Shigeki Hikasa, Keigo Watanabe, Isaku Nagai

School of Engineering

Research output: Contribution to journal › Article › peer-review

8 Citations (Scopus)

Abstract

In this paper, we analyze a propulsive force generated from pectoral fins for a rajiform-type fish robot from fluid dynamic aspects. A pectoral fin of the rajiform-type fish robot is constructed by multiple fin rays, which move independently, and a film of pushing water. Then, the propulsive force of the fish robot is analyzed from the momentum of the fluid surrounding for every fin between fin rays. The total propulsive force for one pectoral fin is the sum of these momenta. The propulsive speed of a fish robot is determined from the difference of the propulsive force generated from pectoral fins, and the resistance force that the fish robot receives from the water when moving forward. The effectiveness of the proposed method is examined through numerical simulation and actual experimental results.

Original language	English
Pages (from-to)	136-141
Number of pages	6
Journal	Artificial Life and Robotics
Volume	19
Issue number	2
DOIs	https://doi.org/10.1007/s10015-013-0142-9
Publication status	Published - Sept 1 2014

Keywords

Fish robot
Propulsive force analysis
Rajiform-type swimming

ASJC Scopus subject areas

Biochemistry, Genetics and Molecular Biology(all)
Artificial Intelligence

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10.1007/s10015-013-0142-9

Cite this

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title = "A pectoral fin analysis for diving rajiform-type fish robots by fluid dynamics",

abstract = "In this paper, we analyze a propulsive force generated from pectoral fins for a rajiform-type fish robot from fluid dynamic aspects. A pectoral fin of the rajiform-type fish robot is constructed by multiple fin rays, which move independently, and a film of pushing water. Then, the propulsive force of the fish robot is analyzed from the momentum of the fluid surrounding for every fin between fin rays. The total propulsive force for one pectoral fin is the sum of these momenta. The propulsive speed of a fish robot is determined from the difference of the propulsive force generated from pectoral fins, and the resistance force that the fish robot receives from the water when moving forward. The effectiveness of the proposed method is examined through numerical simulation and actual experimental results.",

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AU - Ikeda, Masaaki

AU - Hikasa, Shigeki

AU - Watanabe, Keigo

AU - Nagai, Isaku

PY - 2014/9/1

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A pectoral fin analysis for diving rajiform-type fish robots by fluid dynamics

Abstract

Keywords

ASJC Scopus subject areas

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